Festo CMMO-ST-C5-1-LKP, Original Instructions Manual

Page: 32 / 183

5 Sequence control and I/O data
32 Festo – GDCP-CMMO-ST-LK-C-HP-EN – 2017-05b – English
T Actions of the user
1)
Internal conditions
T5 Deactivate drive
CCON.ENABLE = 0
è
CCON = xxx0.xxx 0
T6 Deactivate drive
CCON.ENABLE = 0
è
CCON = xxx0.xxx 0
T7* Malfunction recognised.
T8 Reaction to malfunction completed; drive stopped.
T9 There is no longer a malfunction.
It was a serious error.
Acknowledge malfunction
CCON.RESET = 0
}
1
CCON.ENABLE = 0
è
CCON = xxx0. P xx0
T10 There is no longer a malfunction.
It was a simple error.
Note: T10 permits acknowledgement of malfunctions
without having to switch off the controller.
Acknowledge malfunction
CCON.RESET = 0
}
1
CCON.ENABLE = 0
è
CCON = xxx0. P xx1
T11 Malfunction still exists. Acknowledge malfunction
CCON.RESET = 0
}
1
è
CCON = xxx0. P xxx
1) Key: P = rising edge (positive), N = falling edge (negative), x = any
Tab. 5.2 Status transitions while achieving ready status
5.2.2 Positioning
In principle: The transitions T4, T6 and T7* always have priority!
T Internal conditions Actions of the user
1)
TA1 Homing is present. Start positioning task
CPOS.START = 0
}
1
CPOS.HALT = 1
è
CPOS = 0xx0.00 P1
TA2 Motion Complete = 1
The current record is completed. The next record is not
processed automatically.
None, positioning job has been
completed
TA3 Motion Complete = 0
Positioning job not yet completed.
Trigger intermediate stop
CPOS.HALT = 1
}
0
è
CPOS = 0xxx.xxx
N
1) Key: P = rising edge (positive), N = falling edge (negative), x = any